TY - CHAP
T1 - A novel 4-DOFs origami enabled, SMA actuated, robotic end-effector for minimally invasive surgery
AU - Salerno, M.
AU - Zhang, K.
AU - Menciassi, A.
AU - Dai, J. S.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - Minimally invasive Surgery (MIS) is one of the most challenging fields for robot designers due to the limited size of the access points, to the high miniaturization level and to the dexterity needed for performing surgical tasks. For this reason, the integration of actuators should proceed in parallel with the identification of the most effective transmission mechanisms and kinematics. Conversely, only a few microfabrication technologies are adequate for developing small size mechanisms with safe operation in the human body. In this paper a SMA actuated, miniaturized, origami-enabled, parallel structure is presented as a versatile module for novel robotic tool in MIS, the parallel structure has been combined with a twisting module and a gripper obtaining a 4-DOFs on board actuated end-effector.
AB - Minimally invasive Surgery (MIS) is one of the most challenging fields for robot designers due to the limited size of the access points, to the high miniaturization level and to the dexterity needed for performing surgical tasks. For this reason, the integration of actuators should proceed in parallel with the identification of the most effective transmission mechanisms and kinematics. Conversely, only a few microfabrication technologies are adequate for developing small size mechanisms with safe operation in the human body. In this paper a SMA actuated, miniaturized, origami-enabled, parallel structure is presented as a versatile module for novel robotic tool in MIS, the parallel structure has been combined with a twisting module and a gripper obtaining a 4-DOFs on board actuated end-effector.
UR - http://www.scopus.com/inward/record.url?scp=84929225009&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907267
DO - 10.1109/ICRA.2014.6907267
M3 - Conference paper
AN - SCOPUS:84929225009
SP - 2844
EP - 2849
BT - 2014 IEEE International Conference on Robotics and Automation (ICRA)
ER -